SetupMTCFixedJointState Class

Given an existing MTC Task object, appends an MTC FixedState Stage to the Task. More...

Declaration

class moveit_pro::behaviors::SetupMTCFixedJointState { ... }

Included Headers

#include <setup_mtc_fixed_joint_state.hpp>

Base class

class	BT::SyncActionNode

Public Constructors Index

	SetupMTCFixedJointState (const std::string &name, const BT::NodeConfiguration &config)

Public Member Functions Index

BT::NodeStatus	tick () override
	Creates a FixedState MTC stage using the provided input data and appends it to the MTC task. More...

Public Static Functions Index

static BT::PortsList	providedPorts ()
static BT::KeyValueVector	metadata ()

Public Static Attributes Index

static constexpr auto	kDefaultStageName = "fixed state"

Description

Given an existing MTC Task object, appends an MTC FixedState Stage to the Task.

Data Port Name	Port Type	Object Type
planning_scene_msg	input	moveit_msgs::msg::PlanningScene
joint_state_msg	input	sensor_msgs::msg::JointState
ignore_collisions	input	bool
task	Bidirectional	std::shared_ptr<moveit_pro::task_constructor::Task>

Definition at line 28 of file setup_mtc_fixed_joint_state.hpp.

Public Constructors

SetupMTCFixedJointState()

moveit_pro::behaviors::SetupMTCFixedJointState::SetupMTCFixedJointState (const std::string & name, const BT::NodeConfiguration & config)

Declaration at line 34 of file setup_mtc_fixed_joint_state.hpp, definition at line 48 of file setup_mtc_fixed_joint_state.cpp.

Public Member Functions

tick()

BT::NodeStatus moveit_pro::behaviors::SetupMTCFixedJointState::tick ()

Creates a FixedState MTC stage using the provided input data and appends it to the MTC task.

Returns

BT::NodeStatus::SUCCESS if the FixedState stage was created and added to the task.

Returns

BT::NodeStatus::FAILURE if any input port could not be retrieved.

Returns

BT::NodeStatus::FAILURE if the provided planning scene message could not be used to set the FixedState stage's planning scene.

Returns

BT::NodeStatus::FAILURE if the planning scene's robot state could not be set to match the provided joint state.

Declaration at line 50 of file setup_mtc_fixed_joint_state.hpp, definition at line 76 of file setup_mtc_fixed_joint_state.cpp.

Public Static Functions

metadata()

BT::KeyValueVector moveit_pro::behaviors::SetupMTCFixedJointState::metadata ()

static

Declaration at line 38 of file setup_mtc_fixed_joint_state.hpp, definition at line 70 of file setup_mtc_fixed_joint_state.cpp.

providedPorts()

BT::PortsList moveit_pro::behaviors::SetupMTCFixedJointState::providedPorts ()

static

Declaration at line 36 of file setup_mtc_fixed_joint_state.hpp, definition at line 53 of file setup_mtc_fixed_joint_state.cpp.

Public Static Attributes

kDefaultStageName

constexpr auto moveit_pro::behaviors::SetupMTCFixedJointState::kDefaultStageName = "fixed state"

constexpr static

Definition at line 32 of file setup_mtc_fixed_joint_state.hpp.

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The documentation for this class was generated from the following files:

• setup_mtc_fixed_joint_state.hpp
• setup_mtc_fixed_joint_state.cpp

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